119 citations · 215 across the 46 of their papers we have counts for
14 papers · 1 filter
Learning High-level Semantic-Relational Concepts for SLAM
Jose Andres Millan-Romera, Hriday Bavle, Muhammad Shaheer +3
Recent works on SLAM extend their pose graphs with higher-level semantic concepts like Rooms exploiting relationships between them, to provide, not only a richer representation of…
Vision-based Situational Graphs Exploiting Fiducial Markers for the Integration of Semantic Entities
Ali Tourani, Hriday Bavle, Jose Luis Sanchez-Lopez +3
Situational Graphs (S-Graphs) merge geometric models of the environment generated by Simultaneous Localization and Mapping (SLAM) approaches with 3D scene graphs into a multi-layer…
DFL-TORO: A One-Shot Demonstration Framework for Learning Time-Optimal Robotic Manufacturing Tasks
Alireza Barekatain, Hamed Habibi, Holger Voos
This paper presents DFL-TORO, a novel Demonstration Framework for Learning Time-Optimal Robotic tasks via One-shot kinesthetic demonstration. It aims at optimizing the process of L…
Faster Optimization in S-Graphs Exploiting Hierarchy
Hriday Bavle, Jose Luis Sanchez-Lopez, Javier Civera +1
3D scene graphs hierarchically represent the environment appropriately organizing different environmental entities in various layers. Our previous work on situational graphs extend…
S-Nav: Semantic-Geometric Planning for Mobile Robots
Paul Kremer, Hriday Bavle, Jose Luis Sanchez-Lopez +1
Path planning is a basic capability of autonomous mobile robots. Former approaches in path planning exploit only the given geometric information from the environment without levera…
Pose Graph Optimization for a MAV Indoor Localization Fusing 5GNR TOA with an IMU
Meisam Kabiri, Claudio Cimarelli, Hriday Bavle +2
This paper explores the potential of 5G new radio (NR) Time-of-Arrival (TOA) data for indoor drone localization under different scenarios and conditions when fused with inertial me…
Graph-based Global Robot Simultaneous Localization and Mapping using Architectural Plans
Muhammad Shaheer, Jose Andres Millan-Romera, Hriday Bavle +3
In this paper, we propose a solution for graph-based global robot simultaneous localization and mapping (SLAM) using architectural plans. Before the start of the robot operation, t…
Multi S-graphs: A Collaborative Semantic SLAM architecture
Miguel Fernandez-Cortizas, Hriday Bavle, Jose Luis Sanchez-Lopez +2
Collaborative Simultaneous Localization and Mapping (CSLAM) is a critical capability for enabling multiple robots to operate in complex environments. Most CSLAM techniques rely on…
Marker-based Visual SLAM leveraging Hierarchical Representations
Ali Tourani, Hriday Bavle, Jose Luis Sanchez-Lopez +2
Fiducial markers can encode rich information about the environment and can aid Visual SLAM (VSLAM) approaches in reconstructing maps with practical semantic information. Current ma…
UAV Path Planning Employing MPC- Reinforcement Learning Method Considering Collision Avoidance
Mahya Ramezani, Hamed Habibi, Jose luis Sanchez Lopez +1
In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Sh…
Graph-based Global Robot Localization Informing Situational Graphs with Architectural Graphs
Muhammad Shaheer, Jose Andres Millan-Romera, Hriday Bavle +3
In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method…
On SORA for High-Risk UAV Operations under New EU Regulations: Perspectives for Automated Approach
Hamed Habibi, D. M. K. K. Venkateswara Rao, Jose Luis Sanchez-Lopez +1
In this paper, we investigate requirements to prepare an application for Specific Operations Risk Assessment (SORA), regulated by European Union Aviation Safety Agency (EASA) to ob…
An Integrated Real-time UAV Trajectory Optimization with Potential Field Approach for Dynamic Collision Avoidance
D. M. K. K. Venkateswara Rao, Hamed Habibi, Jose Luis Sanchez-Lopez +1
This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) tra…
Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles
D. M. K. K. Venkateswara Rao, Hamed Habibi, Jose Luis Sanchez-Lopez +3
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence…